| ... | @@ -5,7 +5,7 @@ Please ask a lab member to use the Husky to make sure it is available and in goo |
... | @@ -5,7 +5,7 @@ Please ask a lab member to use the Husky to make sure it is available and in goo |
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This guide was updated last on 2023-02-23.
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This guide was updated last on 2023-02-23.
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## Table of content
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## Table of content
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| ... | @@ -47,9 +47,9 @@ This guide was updated last on 2023-02-23. |
... | @@ -47,9 +47,9 @@ This guide was updated last on 2023-02-23. |
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### Layout
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### Layout
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### Status panel
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### Status panel
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The status panel is a display of LED indicators located on the rear of the chassis which provide information about the current status of Husky. The indicators are described in the table below.
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The status panel is a display of LED indicators located on the rear of the chassis which provide information about the current status of Husky. The indicators are described in the table below.
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| ... | @@ -63,23 +63,23 @@ The status panel is a display of LED indicators located on the rear of the chass |
... | @@ -63,23 +63,23 @@ The status panel is a display of LED indicators located on the rear of the chass |
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</thead>
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</thead>
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<tbody>
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<tbody>
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<tr>
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<tr>
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<td ><img src="status_battery.png"/></td>
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<td ><img src="https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/blob/main/status_battery.png"/></td>
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<td >Battery Status The four LED segments provide an approximate indication of the relative lifetime remaining in the battery.</td>
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<td >Battery Status The four LED segments provide an approximate indication of the relative lifetime remaining in the battery.</td>
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</tr>
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</tr>
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<tr>
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<tr>
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<td ><img src="status_communication.png"/></td>
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<td ><img src="https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/blob/main/status_communication.png"/></td>
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<td >Communication Status When green, Husky is receiving a stream of correctly-formatted motion commands, and is ready to drive. When yellow, Husky is receiving commands, but will not drive due to emergency stop or another error. When red, serial communications are currently timed-out.</td>
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<td >Communication Status When green, Husky is receiving a stream of correctly-formatted motion commands, and is ready to drive. When yellow, Husky is receiving commands, but will not drive due to emergency stop or another error. When red, serial communications are currently timed-out.</td>
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</tr>
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</tr>
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<tr>
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<tr>
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<td ><img src="status_general_error.png"/></td>
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<td ><img src="https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/blob/main/status_general_error.png"/></td>
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<td >General Error Status Illuminates red when Husky will not drive due to an error state. Such states include emergency stop, insufficient battery power, or an unspecified software error.</td>
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<td >General Error Status Illuminates red when Husky will not drive due to an error state. Such states include emergency stop, insufficient battery power, or an unspecified software error.</td>
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</tr>
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</tr>
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<tr>
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<tr>
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<td ><img src="status_emergency.png"/></td>
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<td ><img src="https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/blob/main/status_emergency.png"/></td>
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<td >Emergency Stop Status Illuminates red when Husky will not drive due to the emergency stop being activated, either onboard or wireless (if available).</td>
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<td >Emergency Stop Status Illuminates red when Husky will not drive due to the emergency stop being activated, either onboard or wireless (if available).</td>
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</tr>
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</tr>
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<tr>
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<tr>
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<td ><img src="status_charge.png"/></td>
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<td ><img src="https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/blob/main/status_charge.png"/></td>
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<td >Charge Indicator Illuminates red when Husky user power is being supplied externally.</td>
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<td >Charge Indicator Illuminates red when Husky user power is being supplied externally.</td>
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</tr>
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</tr>
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</tbody>
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</tbody>
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... | @@ -88,7 +88,7 @@ The status panel is a display of LED indicators located on the rear of the chass |
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### Starting up
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### Starting up
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The silver button at the top of the Status Panel is used to power the Husky on and off. From the "off" state, pressing the button will cause the Husky to power on and a blue ring at the edge of the button will be illuminated. From the "on" state, pressing the button will cause the Husky to power off and the blue ring will no longer be illuminated.
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The silver button at the top of the Status Panel is used to power the Husky on and off. From the "off" state, pressing the button will cause the Husky to power on and a blue ring at the edge of the button will be illuminated. From the "on" state, pressing the button will cause the Husky to power off and the blue ring will no longer be illuminated.
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status panel lights will show a brief test pattern. The `COMM` status light will turn red, as the PC is not yet communicating with Husky.
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status panel lights will show a brief test pattern. The `COMM` status light will turn red, as the PC is not yet communicating with Husky.
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| ... | @@ -98,12 +98,12 @@ The `STOP` status light will be red if the Stop button is pressed. If the Stop b |
... | @@ -98,12 +98,12 @@ The `STOP` status light will be red if the Stop button is pressed. If the Stop b |
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To teleoperate Husky, first release the motion stop. Then, referring to the following image of the Logitech Controller, press the enable button (either slow or fast mode) and use the left thumbstick to drive Husky.
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To teleoperate Husky, first release the motion stop. Then, referring to the following image of the Logitech Controller, press the enable button (either slow or fast mode) and use the left thumbstick to drive Husky.
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### Orientation reference
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### Orientation reference
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The reference frame used by all Clearpath Robotics ground robots is based on ISO 8855, and is shown in the figure below. Husky's front is shown. When commanded with a positive translational velocity (forward), wheels travel in the positive X-direction. The direction of the axes differs from those used for roll, pitch, and yaw in aircraft, and care should be taken to ensure that data is interpreted correctly.
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The reference frame used by all Clearpath Robotics ground robots is based on ISO 8855, and is shown in the figure below. Husky's front is shown. When commanded with a positive translational velocity (forward), wheels travel in the positive X-direction. The direction of the axes differs from those used for roll, pitch, and yaw in aircraft, and care should be taken to ensure that data is interpreted correctly.
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### Specifications
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### Specifications
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| ... | @@ -137,7 +137,7 @@ The reference frame used by all Clearpath Robotics ground robots is based on ISO |
... | @@ -137,7 +137,7 @@ The reference frame used by all Clearpath Robotics ground robots is based on ISO |
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### Safety: Emergency-stop and lockout
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### Safety: Emergency-stop and lockout
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The motion-stop function allows a person in the physical vicinity of the robot to halt its motion and prevent re-initiation of motion. Power supply to Husky's motor drivers is enabled by a normally-open relay, which is closed in series with the stop switch. This motion-stop system is intended for use in emergency situations. The motion stop system should not be used as the means of controlling robot motion during regular operation.
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The motion-stop function allows a person in the physical vicinity of the robot to halt its motion and prevent re-initiation of motion. Power supply to Husky's motor drivers is enabled by a normally-open relay, which is closed in series with the stop switch. This motion-stop system is intended for use in emergency situations. The motion stop system should not be used as the means of controlling robot motion during regular operation.
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| ... | @@ -159,9 +159,9 @@ The battery shipped with Husky A200 may be charged outside the robot or while st |
... | @@ -159,9 +159,9 @@ The battery shipped with Husky A200 may be charged outside the robot or while st |
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5. Unplug the charger from the wall and then disconnect it from the battery.
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5. Unplug the charger from the wall and then disconnect it from the battery.
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6. Connect battery terminal connector back to the MCU board. Black to black, red to red.
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6. Connect battery terminal connector back to the MCU board. Black to black, red to red.
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The battery charger shipped with Clearpath Robotics's lead-acid battery-powered products uses a two-state charge cycle.
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The battery charger shipped with Clearpath Robotics's lead-acid battery-powered products uses a two-state charge cycle.
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| ... | @@ -178,7 +178,7 @@ The Wi-Fi SSID is `HuskyLAN` and has password `Husky123`. |
... | @@ -178,7 +178,7 @@ The Wi-Fi SSID is `HuskyLAN` and has password `Husky123`. |
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To connect to the Husky's network you can either connect to the Wi-Fi access point or connect an Ethernet cable to available ethernet switch in the hatch.
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To connect to the Husky's network you can either connect to the Wi-Fi access point or connect an Ethernet cable to available ethernet switch in the hatch.
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### Internet access
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### Internet access
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By default the Husky has no internet access. On the USB-hub a secondary Wi-Fi adapter is plugged in. You can connect this one to a internet-able network.
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By default the Husky has no internet access. On the USB-hub a secondary Wi-Fi adapter is plugged in. You can connect this one to a internet-able network.
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